Yes, but they'll have to add you to the group chat using your Apple ID instead of your primary phone number unless you use one of the "workarounds" to get your number attached to iMessage.

https://airmessage.org/help/guide/phone-number

The workarounds listed are for Airmessage but they apply to Beeper as well in terms of getting your phone number attached. I've been using method #1 successfully for about a month now.